When it comes to real-time stereo vision, the *SGM approach [1]} has emerged as one of the most widely used algorithm, especially for embedded systems. This is not only because of its accuracy and performance, but also due to the fact that it is well suited for parallelization on many architectures. [2]} as well as [3]} optimized the *SGM algorithm to run on a conventional CPU, reaching 12 and 14 fps respectively at a VGA image resolution. The utilization of *GPGPU can lead to faster processing speeds at higher image resolutions, as the work [4]} and [5]} show.
